#ifndef __Attitude_algorithm_H
#define __Attitude_algorithm_H
#include "MPU6050.h"
#include <math.h>

//typedef struct tri
//{
//    float x;
//    float y;
//    float z;
//}tri;//定义三维数据结构体
//extern tri UK;//system input
//extern tri Xk;//posterior estimation
//extern tri Xk_;//prior estimation
//extern tri Zk;//measure status
//extern tri Pk;//posterior estimation error covariance
//extern tri Pk_;//prior estimation error covariance
//extern tri K;//kalman gain
//extern tri Q;//system noise covariance
//extern tri R;//measure noise covariance
//extern tri euro;

//////float mx_max = FLT_MIN,mx_min = FLT_MAX;
////float mx_max = 30.0f,mx_min = -24.9f;
//////Maximum and minimum values of magnetometer X-axis
//////float my_max = FLT_MIN,my_min = FLT_MAX;
////float my_max = 25.2f,my_min = -30.15f;
//////Maximum and minimum values of magnetometer Y-axis
//////float mz_max = FLT_MIN,mz_min = FLT_MAX;
////float mz_max = 33.3f,mz_min = -23.25f;


////function
//void kalman_filter_solution(MPU *mpu);




#endif

